1500case/source/scene/task_frame_contract.json

{
  "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
  "units": "m",
  "rotation_convention": "right_handed_rotation_matrix",
  "world_from_task": [
    [
      2.220446049250313e-16,
      1.0,
      0.0,
      0.0
    ],
    [
      -1.0,
      2.220446049250313e-16,
      -0.0,
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    ],
    [
      -0.0,
      0.0,
      1.0,
      0.75
    ],
    [
      0.0,
      0.0,
      0.0,
      1.0
    ]
  ],
  "chains": {
    "left": {
      "task_from_source_base": [
        [
          1.0,
          0.0,
          0.0,
          -0.40709275024330716
        ],
        [
          0.0,
          1.0,
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        [
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        [
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        ]
      ],
      "source_reference_from_grasp": [
        [
          -0.0,
          -1.0,
          0.0,
          0.0
        ],
        [
          1.0,
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        [
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        ],
        [
          0.0,
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        ]
      ],
      "target_site_from_grasp": [
        [
          1.0,
          -8.180830114382886e-38,
          0.0,
          0.0
        ],
        [
          -2.720210018003498e-29,
          2.6794896468285145e-08,
          -0.9999999999999997,
          0.0
        ],
        [
          8.106857591877872e-37,
          0.9999999999999997,
          2.6794896468285145e-08,
          0.0
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ]
    },
    "right": {
      "task_from_source_base": [
        [
          0.999462342916746,
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          0.0,
          -0.3929072497566929
        ],
        [
          0.032787575259063215,
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          0.0,
          -0.308223982056
        ],
        [
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          1.0,
          0.03473801229812054
        ],
        [
          0.0,
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          0.0,
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        ]
      ],
      "source_reference_from_grasp": [
        [
          -0.0,
          -1.0,
          0.0,
          0.0
        ],
        [
          1.0,
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        ],
        [
          -0.0,
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          0.13366940357801368
        ],
        [
          0.0,
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          0.0,
          1.0
        ]
      ],
      "target_site_from_grasp": [
        [
          1.0,
          -8.180830114382886e-38,
          0.0,
          0.0
        ],
        [
          -2.720210018003498e-29,
          2.6794896468285145e-08,
          -0.9999999999999997,
          0.0
        ],
        [
          8.106857591877872e-37,
          0.9999999999999997,
          2.6794896468285145e-08,
          0.0
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ]
    }
  },
  "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
  "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
  "source_model_hashes": {
    "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
    "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
    "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
  },
  "source_registration_cross_validation_p90_mm": 14.676522765629208,
  "synthetic_placement": {
    "table_size_m": [
      1.2,
      0.8,
      0.05
    ],
    "table_top_world_m": [
      0,
      -0.75,
      0.75
    ],
    "source_table_height_gauge": {
      "virtual_cube_side_m": 0.048969959046310185,
      "table_z_in_source_left_base_m": -0.03473801229812054,
      "assumptions": [
        "source bases are coplanar and share +Z up",
        "virtual grasp origin approximates cube centre at both releases",
        "median release-height difference approximates cube side"
      ],
      "not_identified_from_xy_data": true,
      "not_hardware_calibration": true
    },
    "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
  },
  "unknowns": [
    "measured source table/base extrinsics",
    "actual source and target contact TCP origins",
    "whether source mounts are identical across task recordings",
    "source object poses and task dynamics"
  ],
  "hardware_ready": false,
  "task_goal_or_object_success_verified": false,
  "geometry_fields_editable": false,
  "frozen_before_target_ik_test": true
}